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IEE Proceedings D - Control Theory and Applications

Issue 6 • Nov. 1993

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Displaying Results 1 - 12 of 12
  • Direct adaptive output tracking control using multilayered neural networks

    Publication Year: 1993, Page(s):393 - 398
    Cited by:  Papers (24)  |  Patents (1)
    IEEE is not the copyright holder of this material | Click to expandAbstract | PDF file iconPDF (407 KB)

    Multilayered neural networks are used to construct nonlinear learning control systems for a class of unknown nonlinear systems in a canonical form. An adaptive output tracking architecture is proposed using the outputs of the two three-layered neural networks which are trained to approximate the unknown nonlinear plant to any desired degree of accuracy by using the modified back-propagation techni... View full abstract»

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  • State space based adaptive control with pole restriction

    Publication Year: 1993, Page(s):380 - 392
    IEEE is not the copyright holder of this material | Click to expandAbstract | PDF file iconPDF (756 KB)

    A state space based self-tuning controller is proposed that incorporates a closed loop pole restriction principle. The plant matrices, Kalman gain and the states are estimated using a bootstrap method. The state feedback control design is based upon a modified LQ infinite-time control that restricts the closed loop poles within a user-specified disk in the z-plane to meet the maximum overshoot and... View full abstract»

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  • Generalised command matching for a robot gripping an inertial load

    Publication Year: 1993, Page(s):373 - 379
    IEEE is not the copyright holder of this material | Click to expandAbstract | PDF file iconPDF (489 KB)

    The problem of controlling a robot with end effector rigidly gripping an inertial load is studied using the generalised command-matching technique via proportional state feedback. In particular, the necessary and sufficient conditions for the problem to have a solution are established and the general analytical expressions of the controller matrices are derived. Structural properties of the result... View full abstract»

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  • Model conversions of uncertain linear systems using the Pade and inverse-Pade method

    Publication Year: 1993, Page(s):455 - 464
    Cited by:  Papers (2)
    IEEE is not the copyright holder of this material | Click to expandAbstract | PDF file iconPDF (657 KB)

    The paper presents a mixed method consisting of the Pade approximation and the inverse-Pade approximation method for model conversions of a continuous-time (discrete-time) structured uncertain linear system to an equivalent discrete-time (continuous-time) structured uncertain linear model. This allows the use of well-developed theorems and algorithms in the discrete-time (continuous-time) domain t... View full abstract»

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  • Homotopy methods for the solution of general modified algebraic Riccati equations

    Publication Year: 1993, Page(s):449 - 454
    Cited by:  Papers (7)
    IEEE is not the copyright holder of this material | Click to expandAbstract | PDF file iconPDF (515 KB)

    In the paper, the authors present a method for the numerical solution of modified algebraic Riccati equations, A/sup T/ Q+QA-Q Sigma Q+V+F(Q)=0, where the perturbation term F is low rank. They use a continuous homotopy approach with discrete corrections at each homotopy step. Their algorithm requires the solution of several perturbed Lyapunov equations during each iteration; thus they also address... View full abstract»

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  • Hybrid learning algorithm for Gaussian potential function networks

    Publication Year: 1993, Page(s):442 - 448
    Cited by:  Papers (12)
    IEEE is not the copyright holder of this material | Click to expandAbstract | PDF file iconPDF (504 KB)

    A new hybrid learning algorithm is proposed for use in the parametric estimation of Gaussian potential function networks (GPFNs). In the new algorithm, the number of network inputs is augmented by using target output values in the learning centres of Gaussian nodes in the network's hidden layer. This augmentation of input leads to a more reasonable distribution of centres in the hidden layer of a ... View full abstract»

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  • Roll loop design for bank-to-turn guidance by polynomial methods

    Publication Year: 1993, Page(s):435 - 441
    Cited by:  Papers (1)
    IEEE is not the copyright holder of this material | Click to expandAbstract | PDF file iconPDF (489 KB)

    Computer programs, based on the polynomial approach, have been used to design fixed, linear, optimal roll loop controllers using typical plant and disturbance models. Design parameters may be adjusted to produce systems which satisfy a hard limit on aileron angle and which have a range of step responses. The controller complexity may be reduced as part of the design process. The performance of the... View full abstract»

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  • Decentralised feedback controllers for uncertain interconnected dynamic systems

    Publication Year: 1993, Page(s):429 - 434
    Cited by:  Papers (1)
    IEEE is not the copyright holder of this material | Click to expandAbstract | PDF file iconPDF (439 KB)

    This paper presents a method for the design of decentralised controllers for interconnected dynamic systems with structured uncertainties. The design problem is formulated as a constrained linear quadratic optimal regulator problem, where the cost function is designed to incorporate the system uncertainties. Conditions are then derived for choosing the state and control weighting matrices that gua... View full abstract»

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  • Robust control design for discrete time linear uncertain systems with delayed control

    Publication Year: 1993, Page(s):423 - 428
    Cited by:  Papers (3)
    IEEE is not the copyright holder of this material | Click to expandAbstract | PDF file iconPDF (408 KB)

    This paper addresses the problem of obtaining stabilising controllers for a class of uncertain discrete time systems containing delayed controls. A generalisation of the so-called 'matching condition' is formulated and two kinds of robust stabilising feedback controllers are proposed. An illustrative example is presented to show validity of the approach.<> View full abstract»

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  • Control limits consideration in discrete control system design

    Publication Year: 1993, Page(s):413 - 422
    Cited by:  Papers (2)
    IEEE is not the copyright holder of this material | Click to expandAbstract | PDF file iconPDF (814 KB)

    Consideration of control limits in the design of discrete control system and their impact on system performance is discussed in this paper. The mechanism of how the control limits influence the closed loop system behaviour is investigated using an approach different from that commonly adopted in the literature. Theoretical analysis in this paper reveals the effect of control limits in the form of ... View full abstract»

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  • Intelligent supervision of servo control

    Publication Year: 1993, Page(s):405 - 412
    Cited by:  Papers (3)
    IEEE is not the copyright holder of this material | Click to expandAbstract | PDF file iconPDF (679 KB)

    In this paper two types of intelligent supervised controllers are proposed with the aim to achieve an overall performance beyond the limit of linear controllers. In each case, the overall controller has a hierarchical structure with two conventional linear controllers in the bottom layer to perform accurate control action under the supervision of a reasoning process in the top layer. The reasoning... View full abstract»

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  • Self-tuning control using the right-matrix-fraction innovation description

    Publication Year: 1993, Page(s):399 - 404
    IEEE is not the copyright holder of this material | Click to expandAbstract | PDF file iconPDF (437 KB)

    An algorithm for self-tuning control of discrete-time linear plant is proposed. The algorithm uses a stochastic right-matrix-fraction innovation description as the system representation, a recursive-prediction-error algorithm for online estimation of the system parameters and the costates, and pole placement plus moving-average control via costate and innovation feedback.<> View full abstract»

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